01514nas a2200181   4500008004100000245009500041210006900136300001400205490000600219520084600225653004801071653001201119100001501131700001901146700001201165700001501177856014001192       2001                        eng d00aRandomized parallel simulation of constrained multibody systems for VR/haptic applications0 aRandomized parallel simulation of constrained multibody systems   a2319-23240 v33 a<p>In this paper, we consider the problem of efficiently simulating large interconnected mechanical systems. For applications such as haptic rendering of large, complex virtual environments, dynamic simulation software and hardware is still too slow to afford accurate performance in real-time. In particular, mechanisms with closed kinematic chains necessitate solutions to a set of differential equation with algebraic constraints (DAE&#39;s), that are often too heavy and stiff to be computed in real-time by present-day single-processor machines. On the other hand, the structure of most state-of-the-art algorithms does not easily lend itself to parallelization. In this paper, we propose and experimentally verify a technique for DAE simulation that profitably uses a degree of randomization to achieve efficient parallelization.</p>
10aDynamics and Simulation for Virtual Reality10aHaptics1 aBicchi, A.1 aPallottino, L.1 aBray, M1 aPerdomi, P  uhttps://www.centropiaggio.unipi.it/publications/randomized-parallel-simulation-constrained-multibody-systems-vrhaptic-applications.html